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首页> 外文期刊>IFAC PapersOnLine >Modelling and Simulation of 4 DOF Robotic Arm for an Automated Roselle Tea Processing Plant Using Solidwoks and Matlab Simulik
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Modelling and Simulation of 4 DOF Robotic Arm for an Automated Roselle Tea Processing Plant Using Solidwoks and Matlab Simulik

机译：使用Solidwoks和Matlab Simulik对自动化Roselle茶加工厂的4自由度机械臂进行建模和仿真

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摘要

Modelling of 4 degree of freedom (4 DOF) of robotic arm for roselle tea process plant is being discussed. The design takes into account by calculating the forward and inverse kinematic of this robotic arm motion. The material was analyzed using computer software that calculated the finite element of linear stress analysis of each mechanical components of robotic arm. Besides that, the loads exerted on the robotic arm were also calculated to ensure the mechanical components of the robotic arm is not damaged during operation. The system implementation and optimization was carried out in MATLAB/ Simulink environment. Finite element analysis (FEA), time and motion study were carried out to evaluate the performance of the designed model using Solid Works software. Solid Works, MATLAB/Simulink and Robo Analyzer software packages were used to simulate the virtual robotic arm to analyze and evaluate the performance of the robotic arm. Results show that the robotic arm frame made of aluminum is capable and rigid enough to carry the maximum payload. The maximum equivalent stress induced and displacement are 64.0952 N/mm 2 and 2.796 mm respectively. Also, the robotic arm reached height was found to be 1850 mm with total mass of 33.1 kg; volume of 8.11x 10 -3 m 3 and total surface area of 1.7 m 2 .
机译：讨论了玫瑰茄茶加工厂的机械手的4自由度（4 DOF）建模。通过计算该机械手臂运动的正向和反向运动学来考虑设计。使用计算机软件对材料进行了分析，该软件计算了机械手臂的每个机械组件的线性应力分析的有限元。除此之外，还计算了施加在机械臂上的负载，以确保机械臂的机械组件在运行过程中不会损坏。系统实现和优化是在MATLAB / Simulink环境中进行的。使用Solid Works软件进行了有限元分析（FEA），时间和运动研究，以评估设计模型的性能。使用Solid Works，MATLAB / Simulink和Robo Analyzer软件包来模拟虚拟机械臂，以分析和评估机械臂的性能。结果表明，铝制机械臂具有足够的强度和刚度，可以承载最大的有效载荷。引起的最大等效应力和位移分别为64.0952 N / mm 2和2.796 mm。此外，发现机械臂达到的高度为1850毫米，总质量为33.1千克;体积为8.11x 10 -3 m 3，总表面积为1.7 m 2。

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